Update README.md

README.md

@@ -19,18 +19,43 @@ This model is trained using the [LeRobot library](https://huggingface.co/lerobot
 
 This is the best checkpoint for the model. These results are achievable assuming we have reliable validation and can select the best checkpoint based on the validation results (not always the case in robotics). If you are interested in more stable and reproducible results achievable without checkpoint selection, please refer to https://huggingface.co/IliaLarchenko/dot_pusht_keypoints
 
-You can use this model by installing LeRobot from this branch: https://github.com/IliaLarchenko/lerobot/tree/dot
+You can use this model by installing LeRobot from [this branch](https://github.com/IliaLarchenko/lerobot/tree/dot_new_config)
 
 To train the model:
 
-```
-python lerobot/scripts/train.py policy=dot_pusht_keypoints env=pusht env.gym.obs_type=environment_state_agent_pos
+```bash
+python lerobot/scripts/train.py \
+    --policy.type=dot \
+    --dataset.repo_id=lerobot/pusht_keypoints \
+    --env.type=pusht \
+    --env.task=PushT-v0 \
+    --output_dir=outputs/train/pusht_keyponts \
+    --batch_size=24  \
+    --log_freq=1000 \
+    --eval_freq=10000 \
+    --save_freq=50000 \
+    --offline.steps=1000000 \
+    --seed=100000 \
+    --wandb.enable=true \
+    --num_workers=24 \
+    --use_amp=true \
+    --device=cuda \
+    --policy.return_every_n=2 \
+    --policy.train_horizon=30 \
+    --policy.inference_horizon=30
 ```
 
 To evaluate the model:
 
 ```bash
-python lerobot/scripts/eval.py -p IliaLarchenko/dot_pusht_keypoints_best eval.n_episodes=1000 eval.batch_size=100 seed=1000000
+python lerobot/scripts/eval.py \
+    --policy.path=IliaLarchenko/dot_pusht_keypoints_best \
+    --env.type=pusht \
+    --env.task=PushT-v0 \
+    --eval.n_episodes=1000 \
+    --eval.batch_size=100 \
+    --env.obs_type=environment_state_agent_pos \
+    --seed=1000000
 ```
 
 Model size: